There's no real "easy" way to provide management of both devices. Plus, if you go with a PIX or router and your VPN3030 fails, how are you going to tell all the 3002's to connect to the other device?
Your best bet to providing proper redundancy is to purchase another concentrator and set it up in a load-balancing config. It doesn't have to be a 3030, you can purchase a 3005 or a 3015 and use that. With load balancing you configure a virtual IP address for the cluster of 30xx's, and you have your 3002's connect to that IP address. The head end concentrators will load balance the connections between themselves, giving more connections to the faster concentrators automatically. If one ever fails they work it out automatically also, and the 3002 just has to reconnect to the virtual address again (which is also automatic) and all the connections will then go to the one working concentrator. You don't need to do anything, and the outage is very minimal.
You can read about it here:
http://www.cisco.com/univercd/cc/td/doc/product/vpn/vpn3000/4_1/config/lbssf.htm